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<div class="title">color_coding.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef COLOR_COMPRESSION_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define COLOR_COMPRESSION_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;iterator&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">using namespace </span>std;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html">   64</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_color_coding.html">ColorCoding</a></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="comment">// public typedefs</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a90e70dcf438d325abdcf593c9a363527">   77</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a90e70dcf438d325abdcf593c9a363527">ColorCoding</a> () :</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          output_ (), pointAvgColorDataVector_ (), pointAvgColorDataVector_Iterator_ (),</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          pointDiffColorDataVector_ (), pointDiffColorDataVector_Iterator_ (), colorBitReduction_ (0)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a87cd5c92ec1e6cb65d822f9ec94d3ee6">   85</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a87cd5c92ec1e6cb65d822f9ec94d3ee6">~ColorCoding</a> ()</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">inline</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#ad9e6aec6eefe3d829e88e74c583bbee7">   94</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#ad9e6aec6eefe3d829e88e74c583bbee7">setBitDepth</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bitDepth_arg)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          colorBitReduction_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (8 - bitDepth_arg);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a8d21490cbca034aa34955d057ad6aa4e">  103</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a8d21490cbca034aa34955d057ad6aa4e">getBitDepth</a> ()</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (8 - colorBitReduction_));</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a9d0ecbbb1c331d4f234b496567c4952d">  112</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a9d0ecbbb1c331d4f234b496567c4952d">setVoxelCount</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> voxelCount_arg)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          pointAvgColorDataVector_.reserve (voxelCount_arg * 3);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">inline</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#af7a2fb98dd7f14d54685a875a5cd844e">  122</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#af7a2fb98dd7f14d54685a875a5cd844e">setPointCount</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pointCount_arg)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          pointDiffColorDataVector_.reserve (pointCount_arg * 3);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a69143b53e397123d1a1eab022df6271c">  130</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a69143b53e397123d1a1eab022df6271c">initializeEncoding</a> ()</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          pointAvgColorDataVector_.clear ();</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          pointDiffColorDataVector_.clear ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a2a9ceaa78233615d3ea0f961446a1afa">  140</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a2a9ceaa78233615d3ea0f961446a1afa">initializeDecoding</a> ()</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          pointAvgColorDataVector_Iterator_ = pointAvgColorDataVector_.begin ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          pointDiffColorDataVector_Iterator_ = pointDiffColorDataVector_.begin ();</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        std::vector&lt;char&gt;&amp;</div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a1f82048f6e4989eca5808a56c41f8f3e">  150</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a1f82048f6e4989eca5808a56c41f8f3e">getAverageDataVector</a> ()</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          <span class="keywordflow">return</span> pointAvgColorDataVector_;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        std::vector&lt;char&gt;&amp;</div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a90fae26d4e9ff946155b589a7e135d15">  158</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a90fae26d4e9ff946155b589a7e135d15">getDifferentialDataVector</a> ()</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          <span class="keywordflow">return</span> pointDiffColorDataVector_;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a189d9b4bd5278eb3d8ad749be83c321b">  169</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a189d9b4bd5278eb3d8ad749be83c321b">encodeAverageOfPoints</a> (<span class="keyword">const</span> <span class="keyword">typename</span> std::vector&lt;int&gt;&amp; indexVector_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> rgba_offset_arg, PointCloudConstPtr inputCloud_arg)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          std::size_t i, len;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> avgRed;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> avgGreen;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> avgBlue;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <span class="comment">// initialize</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          avgRed = avgGreen = avgBlue = 0;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="comment">// iterate over points</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          len = indexVector_arg.size ();</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            <span class="comment">// get color information from points</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx = indexVector_arg[i];</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">char</span>* idxPointPtr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;inputCloud_arg-&gt;points[idx]);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; colorInt = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (idxPointPtr+rgba_offset_arg);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            <span class="comment">// add color information</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            avgRed += (colorInt &gt;&gt; 0) &amp; 0xFF;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            avgGreen += (colorInt &gt;&gt; 8) &amp; 0xFF;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            avgBlue += (colorInt &gt;&gt; 16) &amp; 0xFF;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          <span class="comment">// calculated average color information</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          <span class="keywordflow">if</span> (len &gt; 1)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            avgRed   /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (len);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            avgGreen /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (len);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            avgBlue  /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (len);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          <span class="comment">// remove least significant bits</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          avgRed &gt;&gt;= colorBitReduction_;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          avgGreen &gt;&gt;= colorBitReduction_;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          avgBlue &gt;&gt;= colorBitReduction_;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          <span class="comment">// add to average color vector</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          pointAvgColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgRed));</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          pointAvgColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgGreen));</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          pointAvgColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgBlue));</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a5f2bd3d4d25a13b4398aa9a531537315">  221</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a5f2bd3d4d25a13b4398aa9a531537315">encodePoints</a> (<span class="keyword">const</span> <span class="keyword">typename</span> std::vector&lt;int&gt;&amp; indexVector_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> rgba_offset_arg, PointCloudConstPtr inputCloud_arg)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          std::size_t i, len;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> avgRed;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> avgGreen;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> avgBlue;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          <span class="comment">// initialize</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          avgRed = avgGreen = avgBlue = 0;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          <span class="comment">// iterate over points</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          len = indexVector_arg.size ();</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;            <span class="comment">// get color information from point</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx = indexVector_arg[i];</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">char</span>* idxPointPtr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;inputCloud_arg-&gt;points[idx]);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; colorInt = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (idxPointPtr+rgba_offset_arg);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;            <span class="comment">// add color information</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;            avgRed += (colorInt &gt;&gt; 0) &amp; 0xFF;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            avgGreen += (colorInt &gt;&gt; 8) &amp; 0xFF;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            avgBlue += (colorInt &gt;&gt; 16) &amp; 0xFF;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          <span class="keywordflow">if</span> (len &gt; 1)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> diffRed;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> diffGreen;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> diffBlue;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            <span class="comment">// calculated average color information</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;            avgRed   /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (len);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            avgGreen /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (len);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            avgBlue  /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (len);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            <span class="comment">// iterate over points for differential encoding</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            <span class="keywordflow">for</span> (i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;              <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx = indexVector_arg[i];</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;              <span class="keyword">const</span> <span class="keywordtype">char</span>* idxPointPtr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;inputCloud_arg-&gt;points[idx]);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;              <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; colorInt = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (idxPointPtr+rgba_offset_arg);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;              <span class="comment">// extract color components and do XOR encoding with predicted average color</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;              diffRed = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgRed)) ^ <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (((colorInt &gt;&gt; 0) &amp; 0xFF));</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;              diffGreen = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgGreen)) ^ <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (((colorInt &gt;&gt; 8) &amp; 0xFF));</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;              diffBlue = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgBlue)) ^ <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (((colorInt &gt;&gt; 16) &amp; 0xFF));</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;              <span class="comment">// remove least significant bits</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;              diffRed = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffRed &gt;&gt; colorBitReduction_);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;              diffGreen = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffGreen &gt;&gt; colorBitReduction_);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;              diffBlue = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffBlue &gt;&gt; colorBitReduction_);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;              <span class="comment">// add to differential color vector</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;              pointDiffColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffRed));</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;              pointDiffColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffGreen));</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;              pointDiffColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffBlue));</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;            }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          <span class="comment">// remove least significant bits from average color information</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          avgRed   &gt;&gt;= colorBitReduction_;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          avgGreen &gt;&gt;= colorBitReduction_;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          avgBlue  &gt;&gt;= colorBitReduction_;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          <span class="comment">// add to differential color vector</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;          pointAvgColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgRed));</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;          pointAvgColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgGreen));</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;          pointAvgColorDataVector_.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgBlue));</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a68499431c359b2b1c35d51d078d94be7">  302</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a68499431c359b2b1c35d51d078d94be7">decodePoints</a> (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> rgba_offset_arg)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          std::size_t i;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pointCount;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> colorInt;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;          assert (beginIdx_arg &lt;= endIdx_arg);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          <span class="comment">// amount of points to be decoded</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          pointCount = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (endIdx_arg - beginIdx_arg);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          <span class="comment">// get averaged color information for current voxel</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> avgRed = *(pointAvgColorDataVector_Iterator_++);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> avgGreen = *(pointAvgColorDataVector_Iterator_++);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> avgBlue = *(pointAvgColorDataVector_Iterator_++);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          <span class="comment">// invert bit shifts during encoding</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;          avgRed = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgRed &lt;&lt; colorBitReduction_);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          avgGreen = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgGreen &lt;&lt; colorBitReduction_);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;          avgBlue = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (avgBlue &lt;&lt; colorBitReduction_);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;          <span class="comment">// iterate over points</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; pointCount; i++)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;          {</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;            <span class="keywordflow">if</span> (pointCount &gt; 1)</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;            {</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;              <span class="comment">// get differential color information from input vector</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;              <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> diffRed   = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(pointDiffColorDataVector_Iterator_++));</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;              <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> diffGreen = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(pointDiffColorDataVector_Iterator_++));</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;              <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> diffBlue  = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(pointDiffColorDataVector_Iterator_++));</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;              <span class="comment">// invert bit shifts during encoding</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;              diffRed = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffRed &lt;&lt; colorBitReduction_);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;              diffGreen = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffGreen &lt;&lt; colorBitReduction_);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;              diffBlue = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (diffBlue &lt;&lt; colorBitReduction_);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;              <span class="comment">// decode color information</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;              colorInt = ((avgRed ^ diffRed) &lt;&lt; 0) |</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;                         ((avgGreen ^ diffGreen) &lt;&lt; 8) |</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                         ((avgBlue ^ diffBlue) &lt;&lt; 16);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;            }</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;            {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;              <span class="comment">// decode color information</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;              colorInt = (avgRed &lt;&lt; 0) | (avgGreen &lt;&lt; 8) | (avgBlue &lt;&lt; 16);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;            }</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;            <span class="keywordtype">char</span>* idxPointPtr = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;outputCloud_arg-&gt;points[beginIdx_arg + i]);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;            <span class="keywordtype">int</span>&amp; pointColor = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (idxPointPtr+rgba_offset_arg);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;            <span class="comment">// assign color to point from point cloud</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;            pointColor=colorInt;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;          }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a2ec264bd32330ee64434dc19061f0c35">  363</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a2ec264bd32330ee64434dc19061f0c35">setDefaultColor</a> (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> rgba_offset_arg)</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        {</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          std::size_t i;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pointCount;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;          assert (beginIdx_arg &lt;= endIdx_arg);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          <span class="comment">// amount of points to be decoded</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;          pointCount = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (endIdx_arg - beginIdx_arg);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;          <span class="comment">// iterate over points</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; pointCount; i++)</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          {</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;            <span class="keywordtype">char</span>* idxPointPtr = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;outputCloud_arg-&gt;points[beginIdx_arg + i]);</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;            <span class="keywordtype">int</span>&amp; pointColor = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (idxPointPtr+rgba_offset_arg);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;            <span class="comment">// assign color to point from point cloud</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;            pointColor = defaultColor_;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          }</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        }</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#afce849e868204bf1eb14e9397e2e97e7">  387</a></span>&#160;        PointCloudPtr <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#afce849e868204bf1eb14e9397e2e97e7">output_</a>;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a4f325d7e0945c48a24a517f1593007e6">  390</a></span>&#160;        std::vector&lt;char&gt; <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a4f325d7e0945c48a24a517f1593007e6">pointAvgColorDataVector_</a>;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a5c862e3aaad667738dfa82342b757a58">  393</a></span>&#160;        std::vector&lt;char&gt;::const_iterator <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a5c862e3aaad667738dfa82342b757a58">pointAvgColorDataVector_Iterator_</a>;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a36b41d2a0802b6a6329950f942a712d4">  396</a></span>&#160;        std::vector&lt;char&gt; <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a36b41d2a0802b6a6329950f942a712d4">pointDiffColorDataVector_</a>;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a9c1076cd4ef774e22385fee51493a79e">  399</a></span>&#160;        std::vector&lt;char&gt;::const_iterator <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a9c1076cd4ef774e22385fee51493a79e">pointDiffColorDataVector_Iterator_</a>;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_color_coding.html#a88e357725f69e7e8428869148667e3e3">  402</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classpcl_1_1octree_1_1_color_coding.html#a88e357725f69e7e8428869148667e3e3">colorBitReduction_</a>;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        <span class="comment">// frame header identifier</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> defaultColor_;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      };</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="comment">// define default color</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1octree_1_1_color_coding.html">ColorCoding&lt;PointT&gt;::defaultColor_</a> = ((255) &lt;&lt; 0) |</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;                                                   ((255) &lt;&lt; 8) |</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;                                                   ((255) &lt;&lt; 16);</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  }</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;}</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding&lt;T&gt;;</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html">pcl::octree::ColorCoding</a></div><div class="ttdoc">ColorCoding class</div><div class="ttdef"><b>Definition:</b> color_coding.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a189d9b4bd5278eb3d8ad749be83c321b"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a189d9b4bd5278eb3d8ad749be83c321b">pcl::octree::ColorCoding::encodeAverageOfPoints</a></div><div class="ttdeci">void encodeAverageOfPoints(const typename std::vector&lt; int &gt; &amp;indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)</div><div class="ttdoc">Encode averaged color information for a subset of points from point cloud</div><div class="ttdef"><b>Definition:</b> color_coding.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a1f82048f6e4989eca5808a56c41f8f3e"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a1f82048f6e4989eca5808a56c41f8f3e">pcl::octree::ColorCoding::getAverageDataVector</a></div><div class="ttdeci">std::vector&lt; char &gt; &amp; getAverageDataVector()</div><div class="ttdoc">Get reference to vector containing averaged color data</div><div class="ttdef"><b>Definition:</b> color_coding.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a2a9ceaa78233615d3ea0f961446a1afa"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a2a9ceaa78233615d3ea0f961446a1afa">pcl::octree::ColorCoding::initializeDecoding</a></div><div class="ttdeci">void initializeDecoding()</div><div class="ttdoc">Initialize decoding of color information</div><div class="ttdef"><b>Definition:</b> color_coding.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a2ec264bd32330ee64434dc19061f0c35"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a2ec264bd32330ee64434dc19061f0c35">pcl::octree::ColorCoding::setDefaultColor</a></div><div class="ttdeci">void setDefaultColor(PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, unsigned char rgba_offset_arg)</div><div class="ttdoc">Set default color to points</div><div class="ttdef"><b>Definition:</b> color_coding.h:363</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a36b41d2a0802b6a6329950f942a712d4"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a36b41d2a0802b6a6329950f942a712d4">pcl::octree::ColorCoding::pointDiffColorDataVector_</a></div><div class="ttdeci">std::vector&lt; char &gt; pointDiffColorDataVector_</div><div class="ttdoc">Vector for storing differential color information</div><div class="ttdef"><b>Definition:</b> color_coding.h:396</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a4f325d7e0945c48a24a517f1593007e6"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a4f325d7e0945c48a24a517f1593007e6">pcl::octree::ColorCoding::pointAvgColorDataVector_</a></div><div class="ttdeci">std::vector&lt; char &gt; pointAvgColorDataVector_</div><div class="ttdoc">Vector for storing average color information</div><div class="ttdef"><b>Definition:</b> color_coding.h:390</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a5c862e3aaad667738dfa82342b757a58"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a5c862e3aaad667738dfa82342b757a58">pcl::octree::ColorCoding::pointAvgColorDataVector_Iterator_</a></div><div class="ttdeci">std::vector&lt; char &gt;::const_iterator pointAvgColorDataVector_Iterator_</div><div class="ttdoc">Iterator on average color information vector</div><div class="ttdef"><b>Definition:</b> color_coding.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a5f2bd3d4d25a13b4398aa9a531537315"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a5f2bd3d4d25a13b4398aa9a531537315">pcl::octree::ColorCoding::encodePoints</a></div><div class="ttdeci">void encodePoints(const typename std::vector&lt; int &gt; &amp;indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)</div><div class="ttdoc">Encode color information of a subset of points from point cloud</div><div class="ttdef"><b>Definition:</b> color_coding.h:221</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a68499431c359b2b1c35d51d078d94be7"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a68499431c359b2b1c35d51d078d94be7">pcl::octree::ColorCoding::decodePoints</a></div><div class="ttdeci">void decodePoints(PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, unsigned char rgba_offset_arg)</div><div class="ttdoc">Decode color information</div><div class="ttdef"><b>Definition:</b> color_coding.h:302</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a69143b53e397123d1a1eab022df6271c"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a69143b53e397123d1a1eab022df6271c">pcl::octree::ColorCoding::initializeEncoding</a></div><div class="ttdeci">void initializeEncoding()</div><div class="ttdoc">Initialize encoding of color information</div><div class="ttdef"><b>Definition:</b> color_coding.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a87cd5c92ec1e6cb65d822f9ec94d3ee6"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a87cd5c92ec1e6cb65d822f9ec94d3ee6">pcl::octree::ColorCoding::~ColorCoding</a></div><div class="ttdeci">virtual ~ColorCoding()</div><div class="ttdoc">Empty class constructor.</div><div class="ttdef"><b>Definition:</b> color_coding.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a88e357725f69e7e8428869148667e3e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a88e357725f69e7e8428869148667e3e3">pcl::octree::ColorCoding::colorBitReduction_</a></div><div class="ttdeci">unsigned char colorBitReduction_</div><div class="ttdoc">Amount of bits to be removed from color components before encoding</div><div class="ttdef"><b>Definition:</b> color_coding.h:402</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a8d21490cbca034aa34955d057ad6aa4e"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a8d21490cbca034aa34955d057ad6aa4e">pcl::octree::ColorCoding::getBitDepth</a></div><div class="ttdeci">unsigned char getBitDepth()</div><div class="ttdoc">Retrieve color bit depth of encoded color information.</div><div class="ttdef"><b>Definition:</b> color_coding.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a90e70dcf438d325abdcf593c9a363527"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a90e70dcf438d325abdcf593c9a363527">pcl::octree::ColorCoding::ColorCoding</a></div><div class="ttdeci">ColorCoding()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> color_coding.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a90fae26d4e9ff946155b589a7e135d15"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a90fae26d4e9ff946155b589a7e135d15">pcl::octree::ColorCoding::getDifferentialDataVector</a></div><div class="ttdeci">std::vector&lt; char &gt; &amp; getDifferentialDataVector()</div><div class="ttdoc">Get reference to vector containing differential color data</div><div class="ttdef"><b>Definition:</b> color_coding.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a9c1076cd4ef774e22385fee51493a79e"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a9c1076cd4ef774e22385fee51493a79e">pcl::octree::ColorCoding::pointDiffColorDataVector_Iterator_</a></div><div class="ttdeci">std::vector&lt; char &gt;::const_iterator pointDiffColorDataVector_Iterator_</div><div class="ttdoc">Iterator on differential color information vector</div><div class="ttdef"><b>Definition:</b> color_coding.h:399</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_a9d0ecbbb1c331d4f234b496567c4952d"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#a9d0ecbbb1c331d4f234b496567c4952d">pcl::octree::ColorCoding::setVoxelCount</a></div><div class="ttdeci">void setVoxelCount(unsigned int voxelCount_arg)</div><div class="ttdoc">Set amount of voxels containing point color information and reserve memory</div><div class="ttdef"><b>Definition:</b> color_coding.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_ad9e6aec6eefe3d829e88e74c583bbee7"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#ad9e6aec6eefe3d829e88e74c583bbee7">pcl::octree::ColorCoding::setBitDepth</a></div><div class="ttdeci">void setBitDepth(unsigned char bitDepth_arg)</div><div class="ttdoc">Define color bit depth of encoded color information.</div><div class="ttdef"><b>Definition:</b> color_coding.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_af7a2fb98dd7f14d54685a875a5cd844e"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#af7a2fb98dd7f14d54685a875a5cd844e">pcl::octree::ColorCoding::setPointCount</a></div><div class="ttdeci">void setPointCount(unsigned int pointCount_arg)</div><div class="ttdoc">Set amount of points within point cloud to be encoded and reserve memory</div><div class="ttdef"><b>Definition:</b> color_coding.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html_afce849e868204bf1eb14e9397e2e97e7"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html#afce849e868204bf1eb14e9397e2e97e7">pcl::octree::ColorCoding::output_</a></div><div class="ttdeci">PointCloudPtr output_</div><div class="ttdoc">Pointer to output point cloud dataset.</div><div class="ttdef"><b>Definition:</b> color_coding.h:387</div></div>
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